Start of menu system

Author: Nathan Seidle

Firmware/RTK_Enclosed/RTK_Enclosed.ino

@@ -43,6 +43,41 @@
     If more than 1Hz, turn off SV sentences.
 */
 
+const int FIRMWARE_VERSION_MAJOR = 1;
+const int FIRMWARE_VERSION_MINOR = 6;
+
+#include "settings.h"
+
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+//Hardware connections v11
+const int positionAccuracyLED_1cm = 2;
+const int baseStatusLED = 4;
+const int baseSwitch = 5;
+const int bluetoothStatusLED = 12;
+const int positionAccuracyLED_100cm = 13;
+const int positionAccuracyLED_10cm = 15;
+const byte PIN_MICROSD_CHIP_SELECT = 25;
+const int zed_tx_ready = 26;
+const int zed_reset = 27;
+const int batteryLevelLED_Red = 32;
+const int batteryLevelLED_Green = 33;
+const int batteryLevel_alert = 36;
+//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
+
+//microSD Interface
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+#include <SPI.h>
+#include <SdFat.h> //SdFat (FAT32) by Bill Greiman: http://librarymanager/All#SdFat
+SdFat sd;
+SdFile sensorDataFile; //File that all sensor data is written to
+SdFile serialDataFile; //File that all incoming serial data is written to
+//#define PRINT_LAST_WRITE_TIME // Uncomment this line to enable the 'measure the time between writes' diagnostic
+
+char sensorDataFileName[30] = ""; //We keep a record of this file name so that we can re-open it upon wakeup from sleep
+char serialDataFileName[30] = ""; //We keep a record of this file name so that we can re-open it upon wakeup from sleep
+const int sdPowerDownDelay = 100; //Delay for this many ms before turning off the SD card power
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+
 #include <Wire.h> //Needed for I2C to GPS
 
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
@@ -104,22 +139,6 @@ uint8_t rBuffer[SERIAL_SIZE_RX]; //Buffer for reading F9P
 uint8_t wBuffer[SERIAL_SIZE_RX]; //Buffer for writing to F9P
 //=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
 
-//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-//Hardware connections v11
-const int positionAccuracyLED_1cm = 2;
-const int baseStatusLED = 4;
-const int baseSwitch = 5;
-const int bluetoothStatusLED = 12;
-const int positionAccuracyLED_100cm = 13;
-const int positionAccuracyLED_10cm = 15;
-const int sd_cs = 25;
-const int zed_tx_ready = 26;
-const int zed_reset = 27;
-const int batteryLevelLED_Red = 32;
-const int batteryLevelLED_Green = 33;
-const int batteryLevel_alert = 36;
-//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
-
 //Freeze and blink LEDs if we hit a bad error
 typedef enum
 {
@@ -149,19 +168,30 @@ volatile BaseState baseState = BASE_OFF;
 unsigned long baseStateBlinkTime = 0;
 const unsigned long maxSurveyInWait_s = 60L * 15L; //Re-start survey-in after X seconds
 
+//Return values for getByteChoice()
+enum returnStatus {
+  STATUS_GETBYTE_TIMEOUT = 255,
+  STATUS_GETNUMBER_TIMEOUT = -123455555,
+  STATUS_PRESSED_X,
+};
+
+//Global variables
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
+const byte menuTimeout = 15; //Menus will exit/timeout after this number of seconds
 uint32_t lastBluetoothLEDBlink = 0;
 uint32_t lastRoverUpdate = 0;
 uint32_t lastBaseUpdate = 0;
 uint32_t lastBattUpdate = 0;
 
 uint32_t lastTime = 0;
+//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 
 void setup()
 {
   Serial.begin(115200); //UART0 for programming and debugging
   Serial.setRxBufferSize(SERIAL_SIZE_RX);
   Serial.setTimeout(1);
-  
+
   GPS.begin(115200); //UART2 on pins 16/17 for SPP. The ZED-F9P will be configured to output NMEA over its UART1 at 115200bps.
   GPS.setRxBufferSize(SERIAL_SIZE_RX);
   GPS.setTimeout(1);
@@ -258,6 +288,8 @@ void setup()
   }
   Serial.println(F("GPS configuration complete"));
 
+  beginSD(); //Test if SD is present
+  
   danceLEDs(); //Turn on LEDs like a car dashboard
 
   //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
@@ -321,6 +353,63 @@ void loop()
   }
 
   updateBattLEDs();
+
+  //Menu system via ESP32 USB connection
+  if (Serial.available()) menuMain(); //Present user menu
+
   delay(10); //Required if no other I2C or functions are called
 
 }
+
+void beginSD()
+{
+  pinMode(PIN_MICROSD_CHIP_SELECT, OUTPUT);
+  digitalWrite(PIN_MICROSD_CHIP_SELECT, HIGH); //Be sure SD is deselected
+
+  if (settings.enableSD == true)
+  {
+    // For reasons I don't understand, we seem to have to wait for at least 1ms after SPI.begin before we call microSDPowerOn.
+    // If you comment the next line, the Artemis resets at microSDPowerOn when beginSD is called from wakeFromSleep...
+    // But only on one of my V10 red boards. The second one I have doesn't seem to need the delay!?
+    delay(1);
+
+    //    microSDPowerOn();
+
+    //Max power up time is 250ms: https://www.kingston.com/datasheets/SDCIT-specsheet-64gb_en.pdf
+    //Max current is 200mA average across 1s, peak 300mA
+    for (int i = 0; i < 10; i++) //Wait
+    {
+      delay(1);
+    }
+
+    if (sd.begin(PIN_MICROSD_CHIP_SELECT, SD_SCK_MHZ(24)) == false) //Standard SdFat
+    {
+      printDebug("SD init failed (first attempt). Trying again...\r\n");
+      for (int i = 0; i < 250; i++) //Give SD more time to power up, then try again
+      {
+        delay(1);
+      }
+      if (sd.begin(PIN_MICROSD_CHIP_SELECT, SD_SCK_MHZ(24)) == false) //Standard SdFat
+      {
+        Serial.println(F("SD init failed (second attempt). Is card present? Formatted?"));
+        digitalWrite(PIN_MICROSD_CHIP_SELECT, HIGH); //Be sure SD is deselected
+        online.microSD = false;
+        return;
+      }
+    }
+
+    //Change to root directory. All new file creation will be in root.
+    if (sd.chdir() == false)
+    {
+      Serial.println(F("SD change directory failed"));
+      online.microSD = false;
+      return;
+    }
+
+    online.microSD = true;
+  }
+  else
+  {
+    online.microSD = false;
+  }
+}

Firmware/RTK_Enclosed/System.ino

@@ -14,8 +14,8 @@ void F9PSerialWriteTask(void *e)
       auto s = Serial.readBytes(wBuffer, SERIAL_SIZE_RX);
       GPS.write(wBuffer, s);
     }
-//    else if (SerialBT.connected() && SerialBT.available())
-    
+    //    else if (SerialBT.connected() && SerialBT.available())
+
     if (SerialBT.available())
     {
       while (SerialBT.available())

Firmware/RTK_Enclosed/menuMain.ino

@@ -0,0 +1,59 @@
+//Display the options
+//If user doesn't respond within a few seconds, return to main loop
+void menuMain()
+{
+  while (1)
+  {
+    Serial.println();
+    Serial.println(F("Menu: Main Menu"));
+
+    Serial.println(F("1) Configure Terminal Output"));
+
+    Serial.println(F("2) Configure Time Stamp"));
+
+        if (settings.enableSD && online.microSD)
+          Serial.println(F("s) SD Card File Transfer"));
+
+    Serial.println(F("r) Reset all settings to default"));
+
+    Serial.println(F("x) Exit"));
+
+    byte incoming = getByteChoice(menuTimeout); //Timeout after x seconds
+
+    if (incoming == '1') {}
+    //menuLogRate();
+    else if (incoming == '2') {}
+    //menuTimeStamp();
+    else if (incoming == 'r')
+    {
+      //      Serial.println(F("\r\nResetting to factory defaults. Press 'y' to confirm:"));
+      //      byte bContinue = getByteChoice(menuTimeout);
+      //      if (bContinue == 'y')
+      //      {
+      //        EEPROM.erase();
+      //        if (sd.exists("OLA_settings.txt"))
+      //          sd.remove("OLA_settings.txt");
+      //        if (sd.exists("OLA_deviceSettings.txt"))
+      //          sd.remove("OLA_deviceSettings.txt");
+      //
+      //        Serial.print(F("Settings erased. Please reset OpenLog Artemis and open a terminal at "));
+      //        Serial.print((String)settings.serialTerminalBaudRate);
+      //        Serial.println(F("bps..."));
+      //        while (1);
+      //    else
+      //      Serial.println(F("Reset aborted"));
+    }
+    else if (incoming == 'x')
+      break;
+    else if (incoming == STATUS_GETBYTE_TIMEOUT)
+      break;
+    else
+      printUnknown(incoming);
+  }
+
+  //recordSystemSettings(); //Once all menus have exited, record the new settings to EEPROM and config file
+
+  //recordDeviceSettingsToFile(); //Record the current devices settings to device config file
+
+  while (Serial.available()) Serial.read(); //Empty buffer of any newline chars
+}

Firmware/RTK_Enclosed/settings.h

@@ -0,0 +1,15 @@
+//This is all the settings that can be set on RTK Surveyor. It's recorded to NVM and the config file.
+struct struct_settings {
+  bool printDebugMessages = false;
+  bool enableSD = true;
+  bool enableDisplay = true;
+} settings;
+
+//These are the devices on board RTK Surveyor that may be on or offline.
+struct struct_online {
+  bool microSD = false;
+  bool display = false;
+  bool dataLogging = false;
+  bool serialLogging = false;
+  bool serialOutput = false;
+} online;

Firmware/RTK_Enclosed/support.ino

@@ -0,0 +1,62 @@
+void printDebug(String thingToPrint)
+{
+  if(settings.printDebugMessages == true)
+  {
+    Serial.print(thingToPrint);    
+  }
+}
+
+//Option not known
+void printUnknown(uint8_t unknownChoice)
+{
+  Serial.print(F("Unknown choice: "));
+  Serial.write(unknownChoice);
+  Serial.println();
+}
+void printUnknown(int unknownValue)
+{
+  Serial.print(F("Unknown value: "));
+  Serial.write(unknownValue);
+  Serial.println();
+}
+
+//Get single byte from user
+//Waits for and returns the character that the user provides
+//Returns STATUS_GETNUMBER_TIMEOUT if input times out
+//Returns 'x' if user presses 'x'
+uint8_t getByteChoice(int numberOfSeconds)
+{
+  Serial.flush();
+  for (int i = 0; i < 50; i++) //Wait for any incoming chars to hit buffer
+  {
+    //checkBattery();
+    delay(1);
+  }
+  while (Serial.available() > 0) Serial.read(); //Clear buffer
+
+  long startTime = millis();
+  byte incoming;
+  while (1)
+  {
+    if (Serial.available() > 0)
+    {
+      incoming = Serial.read();
+      //      Serial.print(F("byte: 0x"));
+      //      Serial.println(incoming, HEX);
+      if (incoming >= 'a' && incoming <= 'z') break;
+      if (incoming >= 'A' && incoming <= 'Z') break;
+      if (incoming >= '0' && incoming <= '9') break;
+    }
+
+    if ( (millis() - startTime) / 1000 >= numberOfSeconds)
+    {
+      Serial.println(F("No user input received."));
+      return (STATUS_GETBYTE_TIMEOUT); //Timeout. No user input.
+    }
+
+    //checkBattery();
+    delay(1);
+  }
+
+  return (incoming);
+}